def deal_with_command(s):
if s[0] != ID:
return 0
if s[1] != ord(b'S') and s[1] != ord(b'R') and s[1] != ord(b'Q'):
return 0
if s[1] == ord(b'S'):
for i in range(4, 8, 1):
speed[i - 4] = s[i]
set_car_speed()
st = struct.pack('4s4B6i', s[0:4], speed[0], speed[1], speed[2], speed[3],
compass.get_x(), compass.get_y(), compass.get_z(),
accelerometer.get_x(), accelerometer.get_y(),
accelerometer.get_z())
uart.write(st)
sleep(20)
if s[1] == ord(b'R'):
display.show(Image.SAD)
uart.write('+++')
for i in range(4, 8, 1):
speed[i - 4] = 0
set_car_speed()
sleep(1000)
reset()
return 1
def sleep():
power_data = [0x8D, 0x3E, 0x11, 0x01, 0x13, 0x01, 0x00]
power_data.extend([~((sum(power_data) - 0x8D) % 256) & 0x00FF, 0xD8])
uart.write(bytearray(power_data))
return
def reset_yaw():
drive_data = [0x8D, 0x3E, 0x12, 0x01, 0x16, 0x06, 0x00]
drive_data.extend([~((sum(drive_data) - 0x8D) % 256) & 0x00FF, 0xD8])
uart.write(bytearray(drive_data))
return
def send_telegram(self, BotApiKey, MyChannelName, message):
#publish a message to Bot on telegram
uart.write("\r")
self.__readUntil(uart, '\r')
uart.write("|3|1|https://api.telegram.org/bot", BotApiKey, "/sendMessage?chat_id=",MyChannelName,"&text=" message, "\r")
self.__readUntil(uart, '3')
result = self.__readUntil(uart, '\r')
return True
def publish(self, topicName, message):
#publish a message to Broker on topic
uart.write("\r")
__readUntil(uart, '\r')
uart.write("|4|1|3|", topicName, "|", message, "|\r")
self.__readUntil(uart, '4')
self.__readUntil(uart, '1')
self.__readUntil(uart, '3')
self.__readUntil(uart, '1')
return True
def subscribe(self, topicName):
#subscribe on topic
uart.write("\r")
self.__readUntil(uart, '\r')
uart.write("|4|1|2|", topicName, "|\r")
self.__readUntil(uart, '4')
self.__readUntil(uart, '1')
self.__readUntil(uart, '2')
self.__readUntil(uart, '1')
return True
def set_rgb_led_by_index(index, red, green, blue):
led_data = [0x8D, 0x3E, 0x11, 0x01, 0x1A, 0x1A, 0x00]
led_data.extend(index)
led_data.extend([red, green, blue])
led_data.extend([~((sum(led_data) - 0x8D) % 256) & 0x00FF, 0xD8])
uart.write(bytearray(led_data))
return
def send_AT(mSend, mRec1, mRec2=b""):
while True:
uart.write(mSend)
sleep(100)
if uart.any():
s = uart.readall()
if s == mRec1 or s == mRec2:
break
display.show(Image.HAPPY)
sleep(200)
def connect_wifi(self, yourSSID,yourPASSWORD):
#connect to WIFI
uart.init(baudrate=9600, tx = pin0, rx = pin1)
uart.write("\r")
self.__readUntil(uart, '\r')
uart.write("|2|1|", yourSSID, ",", yourPASSWORD, "|\r")
self.__readUntil(uart, '3')
ipadress = self.__readUntil(uart, '\r')
uart.init(baudrate=115200)
print(ipadress)
return True
def hdr_bb( cnt, limit) : if limit == cnt : cnt = 0 else : cnt = cnt + 1 uart.write( str( cnt)) dp.scroll( str( cnt), delay = 80) return cnt
def set_all_leds(red, green, blue):
led_data = [
0x8D, 0x3E, 0x11, 0x01, 0x1A, 0x1A, 0x00, 0x3F, 0xFF, 0xFF, 0xFF
]
for _ in range(10):
led_data.extend([red, green, blue])
led_data.extend([~((sum(led_data) - 0x8D) % 256) & 0x00FF, 0xD8])
uart.write(bytearray(led_data))
return
def connect_iot_cloud(self, server,port,user,password):
#connect to MQTT Broker server
'''Thingspeak; server="api.thingspeak.com";port="80"
Blynk; server="blynk-cloud.com" ;http port="8080"; https port="9443"
exemple:
'''
uart.write("\r")
self.__readUntil(uart, '\r')
uart.write("|4|1|1|", server,"|", port, "|", user, "|", password, "|\r")
self.__readUntil(uart, '4')
self.__readUntil(uart, '1')
self.__readUntil(uart, '1')
self.__readUntil(uart, '1')
return True
def loop() : # words = uart.readline() word = uart.read() if word is None : return # uart.write( str( len( word))) # uart.write( str( type( word))) # uart.write( str( int.from_bytes( word, 'big'))) uart.write( word) if int.from_bytes( word, 'big') == 0x0D : uart.write( '\n')
def temperature(self):
try:
uart.init(baudrate=9600, bits=8, parity=None, stop=1, tx=self.tx_pin, rx=self.rx_pin)
sleep(1)
uart.write(b'\x50')
t = 0
buf = bytearray(1)
while not uart.any() and t < 1000:
t = t + 1
sleep(5)
if t < 1000:
uart.readinto(buf, 1)
uart.init(115200)
return(buf[0] - 45)
except Exception as exc:
uart.init(115200)
print_exception(exc)
def set_raw_motors(left_mode, left_speed, right_mode, right_speed):
if left_mode < 0 or left_mode > 2:
left_mode = 0
if right_mode < 0 or right_mode > 2:
right_mode = 0
raw_motor_data = [
0x8D, 0x3E, 0x12, 0x01, 0x16, 0x01, 0x00, left_mode, left_speed,
right_mode, right_speed
]
raw_motor_data.extend(
[~((sum(raw_motor_data) - 0x8D) % 256) & 0x00FF, 0xD8])
uart.write(bytearray(raw_motor_data))
return
def drive(speed, heading):
flags = 0x00
if speed < 0:
speed *= -1
heading += 180
heading %= 360
flags = 0x01
drive_data = [
0x8D, 0x3E, 0x12, 0x01, 0x16, 0x07, 0x00, speed, heading >> 8,
heading & 0xFF, flags
]
drive_data.extend([~((sum(drive_data) - 0x8D) % 256) & 0x00FF, 0xD8])
uart.write(bytearray(drive_data))
return
def distance_mm(self):
try:
uart.init(baudrate=9600, bits=8, parity=None, stop=1, tx=self.tx_pin, rx=self.rx_pin)
sleep(1)
uart.write(b'\x55')
t = 0
buf = bytearray(2)
while not uart.any() and t < 1000:
t = t + 1
sleep(5)
if t < 1000:
uart.readinto(buf, 2)
uart.init(115200)
dist = buf[0] * 256 + buf[1]
if dist > 1100:
dist = -1
return dist
except Exception as exc:
uart.init(115200)
print_exception(exc)
def main():
data_received = 0
display.show(Image.HAPPY)
while True:
response = radio.receive()
if response is not None: # Some data received
uart.write(response+"\n") # Write received data with line break on serial bus
if data_received == 0:
display.clear() # Clear Microbit LEDs
if "," in response: # "(x,y,z)" data received
cy, cx = divmod(data_received, 5)
display.set_pixel(cx, cy, 9)
# Increase and limit data_received value within 0-24 range
data_received = 0 if data_received >= 24 else data_received+1
elif response == "done":
data_received = 0
display.show(Image.YES)
elif response == "exit":
display.show(Image.HAPPY)
sleep(2000)
display.clear()
break
else:
sleep(100)
# Shove accelerometer data through the uart.
from microbit import accelerometer, sleep, uart, pin0, pin1
uart.init(rx=pin0, tx=pin1)
while True:
uart.write(
bytes(','.join([str(v)
for v in accelerometer.get_values()]), 'ascii') + '\n')
sleep(20000)
def move_relative(self, x_pixels=1, y_pixels=1):
uart.write("|@s-m-mr@|{} {}|@e@|\n".format(x_pixels, y_pixels))
def _send_byte(self, byte):
uart.write(byte)
Power = str(msg_uart[7:-1], 'UTF-8')
DF_NO = 0
STATE = "Send_Msg"
elif STATE == "Process_Received_Data_Frame":
msg_decoded = Decoded_Data(msg_receive)
if msg_decoded[0:2] == "N1":
if msg_decoded[3:] == "#":
RDF_NO = 1
N1_Msg = "#" + msg_decoded[0:2] + ":"
elif (msg_decoded[3:] == "$") and (int(msg_decoded[2]) == RDF_NO):
N1_Msg += "$"
uart.write(N1_Msg)
RDF_NO += 1
elif int(msg_decoded[2]) == RDF_NO:
N1_Msg += msg_decoded[3:]
RDF_NO += 1
STATE = "Send_Ack"
elif msg_decoded[0:2] == "N2":
if msg_decoded[3:] == "#":
RDF_NO = 1
N1_Msg = "#" + msg_decoded[0:2] + ":"
elif (msg_decoded[3:] == "$") and (int(msg_decoded[2]) == RDF_NO):
N1_Msg += "$"
def press(self, key):
uart.write("|@s-k-prs@|{}|@e@|\n".format(key))
YELLOW = b'Y'
GREEN = b'G'
TRIGGER = b'T'
CLEAR = b'C'
UNKNOWN = b'U'
dim_value = 9 # value 1-9 for dimming the display
NEUTRAL = Image('00000:09090:00000:99999:00000:')
display.show(Image.GHOST / 9 * dim_value)
while True:
if uart.any():
data = uart.read()
if RED in data:
display.show(Image.SAD / 9 * dim_value)
elif YELLOW in data:
display.show(NEUTRAL / 9 * dim_value)
elif GREEN in data:
display.show(Image.HAPPY / 9 * dim_value)
elif CLEAR in data:
display.clear()
elif UNKNOWN in data:
display.show(Image("?") / 9 * dim_value)
if button_b.is_pressed():
uart.write(TRIGGER)
display.show([clk / 9 * dim_value for clk in Image.ALL_CLOCKS],
delay=100)
display.show(Image.CLOCK12 / 9 * dim_value)
def scroll(self, steps=1):
uart.write("|@s-m-scr@|{}|@e@|\n".format(steps))
def write(self, text):
uart.write("|@s-k-txt@|{}|@e@|\n".format(text))
def left_click(self):
uart.write("|@s-m-ckl@||@e@|\n")
def right_click(self):
uart.write("|@s-m-ckr@||@e@|\n")
def init() : uart.init( baudrate = 115200) uart.write( "Hello World !\r\n")
def move_horizontal(self, pixels=1):
uart.write("|@s-m-mh@|{}|@e@|\n".format(pixels))
def move_vertical(self, pixels=1):
uart.write("|@s-m-mv@|{}|@e@|\n".format(pixels))
def move_right(self, pixels=1):
uart.write("|@s-m-mr@|{}|@e@|\n".format(pixels))
def move_left(self, pixels=1):
uart.write("|@s-m-ml@|{}|@e@|\n".format(pixels))
